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Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy

Caharija, Walter; Syre Wiig, Martin; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/2433083
Date
2016
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  • Institutt for teknisk kybernetikk [4088]
  • Publikasjoner fra CRIStin - NTNU [41881]
Original version
IFAC-PapersOnLine. 2016, 49 (23), 590-597.   10.1016/j.ifacol.2016.10.499
Abstract
This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is taken into account that the vehicle is not necessarily neutrallybuoyant. The closed-loop dynamics of the cross-track error are analyzed using nonlinear cascadedsystems theory, and are shown to achieve uniform semiglobal exponential stability. Hence, theintegral line-of-sight guidance law compensates for the lack of neutral buoyancy, and it is nolonger necessary to assume that the vehicle is perfectly ballasted. The exponential convergenceproperties of the guidance law are demonstrated in simulations of an autonomous underwatervehicle.
Publisher
Elsevier
Journal
IFAC-PapersOnLine

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